/// <summary>
/// Open the controller
/// </summary>
public bool OpenDevice()
{
int _reconn_counter = 0;
this.IsConnected = false;
while (true)
{
try
{
_reconn_counter++;
if (_hid_device.Connect())
{
// Start the received task on the UI thread
OnConnectionStatusChanged?.Invoke(this, new ConnectionEventArgs(ConnectionEventArgs.EventType.ConnectionSuccess, null));
// start to read hid report from usb device in the background thread
////_hid_device.StartRead();
// to realize the mechanism of timeout, save the time when the initialization process is started
DateTime _init_start_time = DateTime.Now;
// Wait the first report from HID device in order to get the 'TotalAxes'
do
{
// read hid report
byte[] report = _hid_device.Read();
if (report != null)
{
this.Report.ParseRawData(report);
this.TotalAxes = this.Report.TotalAxes;
}
// Don't check it so fast, the interval of two adjacent report is normally 20ms but not certain
Thread.Sleep(100);
// check whether the initialization process is timeout
if ((DateTime.Now - _init_start_time).TotalSeconds > 5)
{
this.LastError = "unable to get the total axes";
break;
}
} while (this.TotalAxes <= 0);
// TotalAxes <= 0 indicates that no axis was found within 5 seconds, exit initialization process
if (this.TotalAxes <= 0)
{
break;
}
// the total number of axes returned, generate the instance of each axis
this.Report.AxisStateCollection.Clear();
// create the axis collection according the TotalAxes property in the hid report
for (int i = 0; i < this.TotalAxes; i++)
{
// generate axis state object to the controller report class
this.Report.AxisStateCollection.Add(new AxisState()
{
AxisIndex = i
});
// generate axis control on the user window
this.AxisCollection.Add(new Axis()
{
// set the properties to the default value
MaxSteps = 15000,
SoftCCWLS = 0,
SoftCWLS = 15000,
PosAfterHome = 0,
MaxSpeed = MAX_VELOCITY,
AccelerationSteps = ACC_DEC_STEPS
});
}
// start to read the hid report repeatedly
_hid_device.StartRead();
this.IsConnected = true;
// initialize this.Report property on UI thread
OnConnectionStatusChanged?.Invoke(this, new ConnectionEventArgs(ConnectionEventArgs.EventType.TotalAxesReturned, this.TotalAxes));
break;
}
else
{
// pass the try-times to UI thread
OnConnectionStatusChanged?.Invoke(this, new ConnectionEventArgs(ConnectionEventArgs.EventType.ConnectionRetried, _reconn_counter));
Thread.Sleep(500);
// check if reaches the max re-connect times
if (_reconn_counter > 10)
{
this.LastError = "the initialization process was timeout";
break;
}
}
}
catch (Exception ex)
{
this.LastError = ex.Message;
break;
}
}
return(IsConnected);
}